Made it so ahrs take a function pointer.  Now instead of crossing with 'east', we cross wit 'rotationCompass.row(0)' to get that second correctional torque, and as a result the correction seems to happen faster; not sure if that's good or not.
Made it so ahrs take a function pointer.  Now instead of crossing with 'east', we cross wit 'rotationCompass.row(0)' to get that second correctional torque, and as a result the correction seems to happen faster; not sure if that's good or not.

quattrinili/minimu9-ahrs,quattrinili/minimu9-ahrs,zhahaoyu/minimu9-ahrs,quattrinili/minimu9-ahrs,zhahaoyu/minimu9-ahrs,quattrinili/minimu9-ahrs,zhahaoyu/minimu9-ahrs,zhahaoyu/minimu9-ahrs